#ifndef CAN_RECEIVE_H
#define CAN_RECEIVE_H


#include "can.h"
#include "main.h"
#include "chassis_task.h"


/*----------------------ENUMS------------------------*/
//CAN send and receive ID
typedef enum
{
	//
	CAN_MOTOR_CTRL_ID_1_4 = 0x200,
	CAN_MOTOR_CTRL_ID_5_8 = 0x1FF,
	CAN_MOTOR_CTRL_ID_9_C = 0x2FF,
	
	CAN_3508_MOTOR1_ID = 0x201, //chassis can1_fifo0
	CAN_3508_MOTOR2_ID = 0x202,
	CAN_3508_MOTOR3_ID = 0x203,
	CAN_3508_MOTOR4_ID = 0x204,

	CAN_6020_YAW_ID = 0x205, //gimbal_yaw can1_fifo1
	CAN_6020_PIT_ID = 0x206, //gimbal_pitch can2_fifo0
	
	CAN_3508_SHOOT1_ID = 0x205, //ammobooster_shoot can2_fifo0
	CAN_3508_SHOOT2_ID = 0x208,
	
	CAN_2006_TURNBULLET_ID = 0x207, //ammobooster_turnbullet can2_fifo0
	
	//
	CAN_SUPERCAP_STAT1_ID = 0x301 //super_cap can1_fifo1 100Hz
	
} can_msg_id;

/**---------------------------------Some function declarations ----------------------------**/
void CAN_cmd_motor(CAN_HandleTypeDef *hcan, uint32_t identifier, int16_t data1, int16_t data2, int16_t data3, int16_t data4);

#endif

